Pengembangan dan Konstruksi Autonomous Remotely Surface Vessel (AROSSEL) untuk Pemetaan Batimetri Perairan Spesifik
| Main Authors: | Basith, Abdul, Suwastono, Addin, Ariyanto, Sofyan, Cahyono, Bambang Kun, Atunggal, Dedi |
|---|---|
| Format: | Proceeding PeerReviewed application/pdf |
| Bahasa: | eng |
| Terbitan: |
, 2015
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| Subjects: | |
| Online Access: |
https://repository.ugm.ac.id/277801/1/2014%20genap-%20Prosiding%20AES%202015-paper%20Arossel%20basith%20dkk.pdf https://repository.ugm.ac.id/277801/ |
Daftar Isi:
- Bathymetric surveys using ROV (Remotely Operated Vehicle) has been an alternatif solution for surveys at specific waters such as narrow waters and waters with meandering. This research is aimed to develop an autonomous ROV bathymetric boat that is flexible in maneuver and durable in measurement. The study began with the development and modification of the shape and dimensions of the previous boat to be more stable when moving to perform data acquisition. Electronic components for motion control along with the mechanical components assembled and tested in the lab scope. Trial-test is then performed both in laboratory and in reservoirs to test the telemetry system, maneuverability, speed, duration, and the autopilot system. In reservoirs, autopilot system is tested to ensure the ROV follows waypoint lanes previously defined. Further evaluations include maneuver ability, the speed, and the duration of the measurement. This research has produced a ROV bathymetric boat with dimension of 1.1 meters in length, 0.71 meters in width, 0.35 in height with box echosounder), and 15 kg in weight. This ROV is able to move on autopilot mode with the largest difference between the waypoint coordinates and the coordinates of the real ROV bathymetric boat tracks is -2.3 meters for latitude component and -3.4 meters for longitude component. There is still an issue about durability of measurement regarding battery configuration, setting the voltage and mode of ROV motor (e.g. mode torque or speed). The ROV bathymetric boat is capable to carry out data acquisition of depth at Embung (reservoir) Tambak Boyo at speed of 4 km per hour. This speed is adequate for bathymetric survey. Reservoir depth recorded by echosounder varies from 1.3 to 6 meters